CN103460597A - Motor control device - Google Patents
Motor control device Download PDFInfo
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- CN103460597A CN103460597A CN201180069974XA CN201180069974A CN103460597A CN 103460597 A CN103460597 A CN 103460597A CN 201180069974X A CN201180069974X A CN 201180069974XA CN 201180069974 A CN201180069974 A CN 201180069974A CN 103460597 A CN103460597 A CN 103460597A
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- motor
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- supply voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
- H02P3/02—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/026—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being a power fluctuation
Abstract
In order to provide a practical implementation means which reliably determines control system malfunctions with a motor control device, a motor control device is equipped with: a motor driving means that supplies motor current to a motor; a motor current detection means that detects the motor current; and a controller, to which the motor current detection value from the motor current detection means is input, and which outputs a drive signal with respect to the motor driving means. The controller is equipped with: a voltage control means that controls the voltage applied to the motor; a power supply voltage detection means; a means that restricts the maximum value (%) of the drive duty ratio of a PWM circuit to a smaller value when it is determined that a power supply voltage drop has occurred; and a malfunction detection means for determining a malfunction when the motor current value is abnormal.
Description
Technical field
The present invention relates to the control device of electric motor for the moving power steering gear of used for automobile etc., relate in particular to for effectively according to the motor current detected value, extremely carrying out the control device of electric motor of fault verification.
Background technology
In existing this control device of electric motor, following scheme is proposed: in the situation that the current deviation between measured motor current detected value and the motor current command value of storing surpasses the decision threshold of regulation, be judged to be malfunction, the motor current command value is set as to " 0 " and cuts off motor output (for example,, with reference to patent documentation 1 and patent documentation 2).
In the existing control device of electric motor of putting down in writing at above-mentioned patent documentation, even under the malfunctions such as wiring generation ground short circuit fault that are short-circuited between fault, control device and motor in armature winding, the caused supply voltage of the voltage drop that abnormal current when barrier occurs for some reason causes reduces also can be less, and in the situation that the required sufficient magnitude of voltage of action in the moving power steering gear of used for automobile still can identify described normal operating condition and malfunction.
The prior art document
Patent documentation
Patent documentation 1: Japan Patent JP 6-29031 communique
Patent documentation 2: Japanese Patent Laid-Open 2006-76332 communique
Summary of the invention
Invent technical problem to be solved
But, in existing control device of electric motor, if become malfunction and overcurrent flows through, due to these voltage effects, cause supply voltage to reduce, become below the required supply voltage value of the action of the moving power steering gear of used for automobile, in this case, normal operating condition not easy to identify and abnormal operating condition, may because of fault cause control device of electric motor the circuit parts damage or be judged as beyond the voltage range in detecting malfunction, thereby stop fault verification, can not correctly carry out immediately fault verification.Along with the large electric current of vehicle mounted electric motivation in recent years, there is the trend increased all the more in the overcurrent value of malfunction, and therefore, above-mentioned phenomenon becomes deep, important all the more technical problem.
The present invention completes in order to address the above problem; its purpose is to obtain a kind of control device of electric motor; under the malfunctions such as wiring generation ground short circuit fault that this control device of electric motor is short-circuited between fault, control device and motor at the armature winding in motor; prevent that overcurrent from flowing through, preventing that supply voltage reduction of causing because of this overcurrent etc. from causing stops fault verification; and, can realize the suitable protection to circuit element.
The technical scheme that the technical solution problem adopts
Electric motor for vehicle control device of the present invention comprises: electric motor drive unit, and this electric motor drive unit provides motor current to motor; The motor current detecting unit, this motor current detecting unit is detected described motor current; Controller, from described motor current detecting unit to this controller input motor current detected value, and this controller is to described electric motor drive unit output drive signal; The supply voltage detecting unit; Voltage control unit, this voltage control unit is controlled the voltage that puts on described motor; The maximum (%) of the driving duty ratio of pwm circuit is constrained to the unit of the smaller value less than general value when supply voltage reduces judgement; And the fault verification unit, this fault verification unit for being judged to be and breaking down when described motor current value is abnormal.
The invention effect
According to the present invention, in the situation that motor flows through in malfunction, overcurrent, prevent that the supply voltage reduction that causes because of this overcurrent etc. from causing and stop the fault verification action, thereby can carry out reliably fault verification, suitably the protective circuit element.
The accompanying drawing explanation
Fig. 1 means the figure of the relation between the motor that common electric power-steering controller is controlled and the controller that this motor is controlled.
Fig. 2 means the block diagram of the detailed circuit structure of Fig. 1.
Fig. 3 is the detailed circuit diagram that the functional structure for the motor driver to Fig. 2, controller and motor describes.
Fig. 4 means the circuit diagram of the state while in the circuit of Fig. 3, being short-circuited fault.
Fig. 5 means the flow chart of contents processing of the controller of embodiments of the present invention 1.
Fig. 6 is the movement oscillogram of not implementing the supply voltage in situation of the present invention.
Fig. 7 is the movement oscillogram of having implemented the supply voltage in situation of the present invention.
Fig. 8 shows according to the embodiment of the present invention 1 and carries out the control characteristic figure of maximum (%) that supply voltage reduces the driving duty ratio of the pwm circuit while judging.
Embodiment
Execution mode 1
Fig. 1 means to become general brief configuration object of the present invention, the moving power steering control system of used for automobile, and Fig. 2 means the functional structure chart of its details.In addition, in the drawings, to identical or corresponding part mark same numeral.
Relation between controller C and motor M has been shown in Fig. 1, wherein, has inputted the detected value of various transducers to controller C, controller C is controlled electric power-steering controller, and motor M is controlled by this controller C.Motor M to electric power-steering controller complementary torque is provided, the motor driver 52 of being controlled by controller C carrys out drive motor M.
In addition, the vehicle velocity V of the automobile obtained by vehicle speed sensor 42 to controller C input, by torque sensor 43 detected and by phase compensating circuit 44 carried out after phase compensation turn to torque T, by the rotor angle re of resolver (resolver) R be connected with motor M and the detected motor M of rotor angle testing circuit 45, and, for the voltage to putting on motor M is controlled, also to the controller C input motor current detected value detected by motor current test section 41.
Then, Fig. 2 is described.In this control device of electric motor, to controller C input by the detected vehicle velocity V of vehicle speed sensor 42, by torque sensor 43, detected and undertaken turning to torque T after phase compensation by phase compensating circuit 44.In addition, control device of electric motor comprises target current operational part 61, and it is for determining the effective value of command value, the three-phase current that target current command value I ' a*(flows through mutually at U phase, V phase, W become the three-phase current that makes motor M energising).
Turn to sense in order to improve, via rotor velocity operational part 65, the rotor angle re of resolver R and the detected motor M of rotor angle testing circuit 45 is transformed to rotor velocity ω re, according to rotor velocity ω re and the vehicle velocity V through conversion, utilize convergence correction unit 64 to calculate convergence corrected value ICO*, this convergence corrected value Ico* is offered to adder 62.In adder 62, will be from the target current command value I ' a* of target current operational part 61 inputs and the convergence corrected value Ico* addition of inputting from convergence correction unit 64, set convergence and proofread and correct rear target current command value Ia*, this convergence is proofreaied and correct rear target current command value Ia* and is indicated to offer the U phase of motor M, the amplitude that V reaches the three-phase current of W phase mutually.In addition, for can be as with the irrelevant DC quantity of the rotor angle re of motor M, processing current value, after in q shaft current command value operational part 66, above-mentioned convergence being proofreaied and correct, target current command value Ia* implements the d-q coordinate transform, sets q shaft current command value iqa*.On the other hand, d shaft current command value ida* is set to zero.
D shaft current command value Ida* and q shaft current command value Iqa* are input to respectively subtraction portion 67d, 67q.Provide respectively d shaft current detected value Ida and q shaft current detected value Iqa to these subtraction portion 67d, 67q, this d shaft current detected value Ida and q shaft current detected value Iqa by three-phase alternating current/d-q coordinate converting section 68, according to for detection of the U that goes out motor M mutually in actual circulation U phase current iua U phase current test section 41u, for detection of go out V mutually in the V phase current iva that crosses of actual flow V phase current test section 41v, and for detection of go out W mutually in the output of W phase current test section 41w of the W phase current iwa that crosses of actual flow try to achieve.
Thereby, export respectively deviation between d shaft current command value Ida* and d shaft current detected value Ida and the deviation between q shaft current command value Iqa* and q shaft current detected value Iqa from subtraction portion 67d, 67q.Be provided to respectively d shaft current PI(proportional integral from the deviation of this subtraction portion 67d and 67q output) control part 69d and q shaft current PI control part 69q, obtain respectively d shaft voltage command value Vda* and q shaft voltage command value Vqa*.
The above-mentioned d shaft voltage command value Vda* tried to achieve like that and q shaft voltage command value Vqa* are input to d-q/ three-phase alternating current coordinate converting section 72.In addition, to these d-q/ three-phase alternating current coordinate converting section 72 inputs, by the detected rotor angle re of rotor angle testing circuit 45, d-q/ three-phase alternating current coordinate converting section 72 is transformed to d shaft voltage command value Vda* and q shaft voltage command value Vqa* according to following formula (1) command value Vua*, the Vva* of three-phase alternating current coordinate system.And, the U phase voltage command value Vua* of this acquisition and V phase voltage command value Vva* are input to three-phase PWM modulation portion 51.
(mathematical expression 1)
Wherein, W phase voltage command value Vwa* is not calculated by d-q/ three-phase alternating current coordinate converting section 72, and be based on U phase voltage command value Vua* and the V phase voltage command value Vva* that d-q/ three-phase alternating current coordinate converting section 72 is calculated, by W phase voltage command value operational part 73, calculated.; 73 input U phase voltage command value Vua* and the V phase voltage command value Vva* from d-q/ three-phase alternating current coordinate converting section 72 to W phase voltage command value operational part; W phase voltage command value operational part 73 deducts U phase voltage command value Vua* and V phase voltage command value Vva* from zero, thereby obtains W phase voltage command value Vwa*.
With U phase voltage command value Vua* and V phase voltage command value Vva* similarly, the W phase voltage command value Vwa* that W phase voltage command value operational part 73 is calculated provides to three-phase PWM modulation portion 51.Three-phase PWM modulation portion 51 corresponds respectively to U phase voltage command value Vua*, V phase voltage command value Vva* and W phase voltage command value Vwa*, generates pwm signal Su, Sv and Sw, exports pwm signal Su, the Sv of this generation and Sw to motor driver 52.Thus, reach mutually W from U phase, the V of 52 couples of motor M of motor driver and apply respectively mutually and pwm signal Su, Sv and the corresponding voltage Vua of Sw, Vva and Vwa, produced the torque that turns to auxiliary block post to need by motor M.
From the battery supply 1 of vehicle to controller C input supply voltage, controller C comprises that supply voltage detecting unit 2, supply voltage reduce identifying unit 3, fault verification is forbidden unit 4 and fault verification unit 5.Supply voltage detecting unit 2 detects that to offer for the control device of electric motor of vehicle be the constant voltage circuit of controller C, the magnitude of voltage of car battery power 1 of circuit part (not shown) that comprises its peripheral voltage control unit.Supply voltage reduces the reduction of magnitude of voltage of car battery power 1 that 3 pairs of identifying units offer the control device of electric motor of vehicle to be judged, signal is transferred to above-mentioned three-phase PWM modulation portion 51.
Fault verification forbids that unit 4 is at least according to the detection magnitude of voltage of supply voltage detecting unit 2, determine whether in the voltage range that each structural circuit parts at controller C can be moved, in the situation that be judged as outside the voltage range in being moved, this signal is transferred to fault verification unit 5.
In addition, in Fig. 2, motor driver 52, three-phase PWM modulation portion 51, W phase voltage command value operational part 73, d-q/ three-phase alternating current coordinate converting section 72, d shaft current PI control part 69d, q shaft current PI control part 69q and subtraction portion 67d, 67q are referred to as to voltage control unit 100.
Specified target current command value I ' a* and the convergence corrected value Ico* addition by target current operational part 61 in adder 62, it is implemented to the d-q coordinate transform and obtain the rear target current command value Iqa* of convergence correction, for whether target current command value Iqa* after judging this convergence correction correctly is passed to motor M, be provided with three-phase current detection value detection unit 101 in this control device of electric motor.For whole phase currents of the three-phase current detection value based on being passed to motor M are judged, be provided with motor current test section 41, this motor current test section 41 is consisted of the U phase current test section 41u that detects the U phase current, the W phase current test section 41w that detects the V phase current test section 41v of V phase current and detect the W phase current.
By the U phase current detected value detection unit 101u for U phase current detected value Iua, the fault of this control device of electric motor being judged, for the V phase current detected value detection unit 101v that the fault of this control device of electric motor judged with V phase current detected value Iva and form three-phase current detection value detection unit 101 for the W phase current detected value detection unit 101w fault of this control device of electric motor judged with W phase current detected value Iwa.
If detect, be input to three-phase current detection value iua, the iva of three-phase current detection value detection unit 101 and in iwa at least one the regulation allowed band outside, its result is transferred to fault verification unit 5, by fault verification unit 5, judge whether this control device of electric motor breaks down.Q shaft current command value iqa* and d shaft current command value ida*, d shaft current detected value Ida and q shaft current detected value Iqa equally also are transferred to fault verification unit 5, if the difference of the difference of above-mentioned d shaft current detected value Ida and above-mentioned d shaft current command value ida* or q shaft current detected value Iqa and q shaft current command value iqa*, more than the fault verification value of regulation, is judged to be this control device of electric motor fault has occurred.
Fig. 3 is the detailed circuit diagram of the functional structure for above-mentioned motor driver 52, controller C and motor M are described.The pre-driver 52b that pwm signal Su, the Sv exported from controller C and Sw have via motor driver 52, be sent to the control terminal of 6 switch elements that form bridgt circuit 52a, this bridgt circuit 52a is for being controlled the three-phase current that is passed to motor M.This bridgt circuit 52a, pre-driver 52b and have electrode capacitor 52c to be powered by same power supply 1, in order whether to switch motor driver 52 power supplies, possess respectively switch 54 and 55, in order whether to switch motor M power supply, possesses switch 56 in addition.
At the public side of the switch element be connected with the minus side of direct voltage, dispose the motor current test section 41 formed with resistance by current detecting.Dispose U phase current test section 41u, V phase current test section 41v, reach W phase current test section 41w as current detecting unit.
Fig. 4 means the circuit diagram of example when fault occurs, the situation that the W of the motor of the circuit of presentation graphs 3 breaks down mutually is caused, path earth connection 6 becomes the ground short circuit fault.In this case, when normal, the phase current of the motor flow through in mutually at W is by W phase current test section 41w, detect thus the phase current of the motor that W flows through in mutually, but due to the ground short circuit fault having occurred in the path at earth connection 6, therefore, not by W phase current test section 41w, W phase current detected value detection unit 101w detects the current value that approaches zero.
Now, the direction that above-mentioned voltage control unit 100 increases towards U phase, V phase voltage is moved so that above-mentioned current value becomes original target current value, and is controlled so as to the duty ratio of the PWM that increases U phase, V phase.Thus, the drive current of, electric power-steering controller that provide from battery supply 1 and the controller C that it is controlled and the circuit part that comprises its peripheral voltage control unit (below be called control circuit section) increases, consequently, voltage drop also increases, and the supply voltage in the circuit part that be input to constant voltage circuit that above-mentioned controller C uses, comprises its peripheral voltage control unit reduces.
Below, for the action of present embodiment 1, with reference to Fig. 5 and according to the flow chart of the contents processing that means controller C, describe.
In Fig. 5, at first, if start in S1, controlled, in S2, utilize motor current test section 41 to detect motor current.Utilization, as U phase current test section 41u, V phase current test section 41v and the W phase current test section 41w of current detecting unit, detects whole phase currents of the three-phase current detection value that is passed to motor M.In addition, for electric brush motor (brush type motor), self-evident, can utilize simpler single-phase current detecting part to detect the motor current of electric brush motor.
Detect supply voltage in S3, for example utilize supply voltage detecting unit 2 to carry out the A-D conversion corresponding to the detection magnitude of voltage of supply voltage value, it is read as the supply voltage detected value.
In S4, according to the automobile speed V obtained by vehicle speed sensor 42 that is input to above-mentioned controller C, by torque sensor 43, detect and make it to carry out turning to torque T after phase compensation through phase compensating circuit 44, and the resolver R be connected with motor M and the information such as rotor angle re of the detected motor M of rotor angle testing circuit 45, action via above-mentioned voltage control circuit 100, U phase from from motor driver 52 to motor M, V reaches mutually W and applies respectively mutually and pwm signal Su, the corresponding voltage Vua of Sv and Sw, Vva and Vwa, and calculate voltage control quantity, this voltage control quantity is for being controlled the voltage that is applied to motor, so that produced the torque that turns to auxiliary block post to need by motor M.
In S5, according to the detection magnitude of voltage of supply voltage detecting unit 2, determine whether in the voltage range that each structural circuit parts at controller C and its periphery can be moved.For example, more than the not shown operational amplifier of formation current detection circuit etc. and the minimum movements of power circuit thereof ensure that magnitude of voltage is generally 8V, therefore, advance to S6 when 8V is following, in the situation that in S6 more than the lasting stipulated time, advance to S8, in the S8 of motor, the current failure determination processing is resetted, and advance to S11.In addition, in this case, though not shown, certainly, also can stop as required drive motor.
In the situation that the situation that S5 is "No" and S6 are "No", advance to S7, whether judged more than the fault verification value by the detected motor current value of 5 pairs of three-phase current detection value detection units 101 of breakdown determination portion.No matter the mode of motor M is electric brush motor, or the motor driven with three-phase alternating current, if detected motor current detected value is more than the fault verification value of regulation, advance to S9, if the state continuance more than this fault verification value is more than the stipulated time, above-mentioned fault verification unit 5 is judged as and fault has occurred and advanced to S10, stops motor being driven, and block system relay also advances to S15.
In addition, the d shaft current command value that the above-mentioned d-q command value setup unit in 5 pairs of fault verification unit sets and q shaft current command value, with d shaft current detected value and q shaft current detected value that above-mentioned three-phase/d-q principal axis transformation unit is exported, compare, if this difference is more than the fault verification value of regulation, advance to S9, if more than the state continuance official hour more than this fault verification value, above-mentioned fault verification unit 5 is judged as and fault has occurred and advanced to S10, stop motor being driven, block system relay also advances to S15.In the situation that be judged to be "No" in S7 and S8, advance to S11.
S11 be in the situation that under the malfunctions such as wiring generation ground short circuit fault that the armature winding of motor is short-circuited between fault, control device and motor, overcurrent flows through, because this overcurrent causes supply voltage, reduce, the step whether this reduction is judged below the lower voltage decision content, form characteristic of the present invention.Herein, at first in the judgement that there is no S11 and its inoperative situation, action waveforms that do not implement the supply voltage in situation of the present invention are described.
Fig. 6 means not implement the action waveforms of the supply voltage in situation of the present invention, supposes when fault occurs, because the situation of ground short circuit fault has occurred the fault of W phase in the path of earth connection 6.
In this case, when normal, the phase current of the motor flow through in mutually at W is by W phase current test section 41w, detect thus the phase current of the motor that W flows through in mutually, but due to the ground short circuit fault having occurred in the path at earth connection 6, therefore, not by W phase current test section 41w, W phase current detected value detection unit 101w detects the current value that approaches zero.The direction that above-mentioned voltage control unit 100 increases towards U phase, V phase voltage is moved so that this current value becomes original target current value, and is controlled towards the direction of the duty ratio of the PWM that increases U phase, V phase.
Thus, the drive current of the above-mentioned control circuit section provided by battery supply 1 increases, and the increase of the electric current that this provides causes voltage drop to increase, thereby the supply voltage that is input to each structural circuit parts of controller C and its periphery reduces.If fault is not eliminated, the drive current of the above-mentioned control circuit section provided by battery supply 1 increases, thereby the supply voltage that is input to each structural circuit parts of controller C and periphery thereof reduces below the lower voltage limit value that can carry out fault verification.So, be judged to be "Yes" in S5, S6, in S8, the motor current fault verification is processed and resetted, be not judged to be fault and drive motor.
Consequently, switch element moment is damaged, or lower voltage stops the action of control device of electric motor, thereby motor current stops, lower voltage reduces, and consequently, supply voltage returns to and surpasses the above-mentioned lower voltage limit value that can carry out fault verification.Yet, if make control device of electric motor again start action, the drive current of the above-mentioned control circuit section provided by battery supply 1 increases, above-mentioned supply voltage reduces below the lower voltage limit value X3 that can carry out fault verification.In addition, if fault verification is forbidden unit 4, be judged to be below the lower voltage limit value X3 in carrying out fault verification, its result sent to fault verification unit 5, thereby forbid the fault of this control device of electric motor is judged.Until the switch element of drive motor is damaged or stop, repeating this circulation.
Embodiments of the present invention 1 are used for addressing this is that, under regard to the step after the S11 of Fig. 5, with reference to Fig. 8, describe.The establishing method of the maximum (%) of the driving duty ratio of the pwm circuit when judgement supply voltage that Fig. 8 shows embodiments of the present invention 1 reduces.In S11, at first, whether supply voltage is judged below the lower voltage decision content.For this judgement, when voltage rises as shown in Figure 8, when the supply voltage reduction decision content X1 when voltage rises is above, be judged to be "No", in S12, PWM duty ratio maximum is set as to the first setting, in S14, with the controlled quentity controlled variable calculated, carrys out drive motor voltage.
On the other hand, during voltage drop, when the supply voltage reduction decision content X2 when voltage drop is following, be judged to be "Yes", PWM duty ratio maximum is set as being less than the second setting of the first setting in S13, in S14, with the controlled quentity controlled variable calculated, carrys out drive motor voltage.Certainly, even the first setting is that to become the PWM duty ratio peaked 100%, also can expect same action herein.
Above-mentioned S11 is undertaken by supply voltage reduction detection unit 3 and the three-phase PWM modulation portion 51 of controller C to the operation of S14.
Supply voltage reduction decision content X1, X2 that supply voltage reduces by 3 couples of Fig. 8 of detection unit are judged, its result is sent to three-phase PWM modulation portion 51.51 pairs of PWM duty ratio maximums of three-phase PWM modulation portion are controlled, make when supply voltage rises the maximum of the driving duty ratio of pwm circuit is constrained to the first setting, when supply voltage descends, the maximum of the driving duty ratio of pwm circuit is constrained to the second setting that is less than above-mentioned the first setting.
Fig. 7 means to implement the action waveforms of the supply voltage in situation of the present invention.The supply voltage of the transverse axis of Fig. 8 is identical with the supply voltage of the longitudinal axis of Fig. 7.Between the lower voltage limit value X3 that can carry out fault verification of Fig. 7 and X1, the X2 of Fig. 8, have the relation of X3<X2<X1, X1 sets for when the voltage of Fig. 7 rises, more than maximum during voltage drop.As described above, when supposing to break down, the situation of ground short circuit fault occurs in break down the mutually path of causing earth connection 6 of W, in this case, the phase current of the motor flow through in mutually at W is by W phase current test section 41w, and W phase current detected value detection unit 101w detects the current value that approaches zero.
The direction that voltage control unit 100 increases towards U phase, V phase voltage is moved so that this current value becomes original target current value, and is controlled towards the direction of the duty ratio of the PWM that increases U phase, V phase.Thus, the drive current of the control circuit section provided by battery supply 1 increases, and the increase of the electric current that this provides causes voltage drop to increase, thereby is input to the supply voltage reduction of controller C.
If supply voltage reduces, due to the effect of embodiments of the invention illustrated in the S14 after the S11 of Fig. 5, PWM duty ratio maximum is constrained to the second setting of Fig. 8, therefore, with Fig. 6, compares, and is constrained to less motor current value.Thus, voltage drop also is restricted, be not reduced at voltage under the state till the lower voltage limit value that can carry out fault verification and control motor current, determine fault detect in S7, S9, S10, stop motor being driven, carry out block system relay, thereby there is following effect: can prevent the damage of the switch element etc. of control device of electric motor.
In the above-described embodiments, show the example of judging fault based on W phase ground short circuit fault, but self-evident, when the ground short circuit fault occurs mutually for V phase or U, also can carry out identical fault detect.
In addition, the W phase to battery supply connect the power supply short circuit fault time, V phase or U phase connect the power supply short circuit fault time, further, 2 alternate being short-circuited during fault as W phase and V mutually, also can carry out identical fault detect.
Label declaration
C controller, M motor, R resolver,
1 battery supply, 2 supply voltage detecting units,
3 supply voltages reduce identifying units, 4 fault verification forbid unit,
5 fault verification unit, 41 motor current test sections,
41u U phase current test section, 41v V phase current test section,
41w W phase current test section, 42 vehicle speed sensor,
43 torque sensors, 44 phase compensating circuits,
45 rotor angle testing circuits, 51 three-phase PWM modulation portion,
52 motor drivers, 52a bridgt circuit,
52b pre-driver, 52c have electrode capacitor,
61,81 target current operational parts, 64,82 convergency value correction units,
66q shaft current command value operational part, 68 three-phase alternating currents/d-q coordinate converting section,
69d d shaft current PI control part, 69q q shaft current PI control part,
72d-q/ three-phase alternating current coordinate converting section, 73W phase voltage command value operational part,
101 three-phase current detection value detection units, 101u U phase current detected value detection unit,
101v V phase current detected value detection unit, 101w W phase current detected value detection unit.
Claims (7)
1. a control device of electric motor comprises: electric motor drive unit, and this electric motor drive unit is driven motor; The PWM modulation portion, this PWM modulation portion is detected described motor current; And controller, the detected motor current detected value of described motor current detecting unit is input to this controller, and this controller is to described electric motor drive unit output drive signal,
Described controller comprises: the supply voltage detecting unit, and this supply voltage detecting unit is detected supply voltage; Supply voltage reduces identifying unit, and this supply voltage reduces identifying unit the reduction of described supply voltage is judged; And the PWM modulation portion, this PWM modulation portion is modulated and is provided motor current to described electric motor drive unit by PWM,
Described supply voltage reduces in identifying unit, whether supply voltage below reducing decision content, assigned voltage is judged, in the situation that more than described supply voltage reduction decision content, set the maximum of PWM duty ratio for first setting, in the situation that described supply voltage reduces below decision content, the maximum of described PWM duty ratio is set for to the second setting that is less than described the first setting, thereby described electric motor drive unit is controlled.
2. control device of electric motor as claimed in claim 1, is characterized in that,
Described PWM modulation portion is constrained to the first setting by the maximum of the driving duty ratio of pwm circuit when supply voltage rises, and when supply voltage descends, the maximum of the driving duty ratio of pwm circuit is constrained to the second setting that is less than described the first setting.
3. control device of electric motor as claimed in claim 2, is characterized in that,
It is large that supply voltage when supply voltage reduction decision content when described supply voltage rises descends than supply voltage reduces decision content.
4. control device of electric motor as claimed in claim 1, is characterized in that,
Also comprise that fault verification forbids unit, this fault verification forbids that unit forbids carrying out fault monitoring under the regulation supply voltage.
5. control device of electric motor as claimed in claim 1, is characterized in that, comprising:
Controller, this controller utilizes three-phase alternating current to be driven;
Current detecting unit, the phase current that this current detecting unit is crossed threephase motor to actual flow is detected; And
The fault verification unit, this fault verification unit is used in the situation that described phase current detected value is judged to be and breaks down outside the regulation allowed band.
6. control device of electric motor as described as claim 1 to 5, is characterized in that, comprising:
D-q command value setup unit, d shaft current command value and the q shaft current command value of this d-q command value setup unit setting d-q coordinate system are usingd as the electric current that will offer described motor;
Current detecting unit, the phase current that this current detecting unit is crossed described motor to actual flow is detected;
Three-phase/d-q principal axis transformation unit, this three-phase/d-q principal axis transformation unit will be transformed into by the detected phase current detected value of this current detecting unit d shaft current detected value and the q shaft current detected value of d-q coordinate system; And
Voltage control unit, the d shaft current command value of this voltage control unit based on being set by described d-q command value setup unit and q shaft current command value and from d shaft current detected value and q shaft current detected value that described three-phase/d-q principal axis transformation unit is exported, controlled the voltage that puts on described motor.
7. control device of electric motor as claimed in claim 6, is characterized in that,
Comprise the fault verification unit, this fault verification unit, for the difference based between described d shaft current detected value and described d shaft current command value or the difference between described q shaft current detected value and q shaft current command value, is judged and is broken down.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/062099 WO2012160694A1 (en) | 2011-05-26 | 2011-05-26 | Motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103460597A true CN103460597A (en) | 2013-12-18 |
| CN103460597B CN103460597B (en) | 2016-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201180069974.XA Active CN103460597B (en) | 2011-05-26 | 2011-05-26 | Control device of electric motor |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9065364B2 (en) |
| JP (1) | JP5653516B2 (en) |
| CN (1) | CN103460597B (en) |
| DE (1) | DE112011105281T5 (en) |
| WO (1) | WO2012160694A1 (en) |
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Also Published As
| Publication number | Publication date |
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| WO2012160694A1 (en) | 2012-11-29 |
| JP5653516B2 (en) | 2015-01-14 |
| CN103460597B (en) | 2016-05-11 |
| US9065364B2 (en) | 2015-06-23 |
| JPWO2012160694A1 (en) | 2014-07-31 |
| US20130307448A1 (en) | 2013-11-21 |
| DE112011105281T5 (en) | 2014-03-06 |
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